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in the grasp_playpen package in Diamondback's sandbox is a file, src/grasp_playpen/draw_database_object.py. If you run it on the command line, and then enter the model_id of the object you wish to visualize, it will draw it in rviz on the "/grasp_markers" Marker topic in "/base_footprint" frame.

That code is in Python, so if you're writing C++ and want to do the same sort of thing programmatically, a good example is (alas, in Electric, not in Diamondback; there's probably an example in Diamondback but I'm not sure exactly where offhand) ghosted_gripper.cpp in pr2_marker_control/src. Look at the getModelMesh function and where it's used in goalCB().